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Calibration method of TOF camera

A technology of TOF camera and calibration method, which is applied in the field of calibration and can solve problems such as TOF module data errors

Pending Publication Date: 2021-01-12
上海数迹智能科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the defects of the prior art, the present invention provides a TOF camera calibration method, which solves the problem that existing TOF modules have certain errors in data caused by factors such as their own characteristics, imaging conditions, and external environmental interference.

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  • Calibration method of TOF camera

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Embodiment 2

[0081] Embodiment 2: Based on the same technical idea of ​​Embodiment 1, the specific embodiment of the present invention also provides a calibration system of a TOF camera, as a virtual system corresponding to a calibration method based on a TOF camera. Compared with a traditional calibration device, the system , not only can achieve unattended calibration, but also has no mechanical track and is small in size.

[0082] The system includes:

[0083] The first calculation module is used to adjust the physical distance of the calibration board and calculate the time delay value of the TOF camera;

[0084] The adjustment module is used to adjust the time delay value of the TOF camera to obtain the actual distance, and adjust the physical plane of the calibration plate to offset the time delay adjustment;

[0085] The second calculation module is used to calculate the delay deviation according to the physical distance and the actual distance between each pixel point and the unde...

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Abstract

The invention relates to a calibration method for a TOF camera, and the method comprises the steps: adjusting the physical distance of a calibration plate, and calculating the time delay value of theTOF camera; after the actual distance is obtained by adjusting the time delay value of the TOF camera, adjusting the physical plane of the calibration plate to counteract the time delay adjustment; for a plurality of different physical planes and a plurality of different time delay values corresponding to the planes, calculating time delay deviation according to the physical distance and the actual distance between each pixel point and the to-be-determined target; and performing time delay calibration on the time delay value of the TOF camera by using the time delay deviation to obtain a finalcorrection value, and correcting the time delay deviation by adjusting the correction value. Compared with the time value obtained by a traditional delayer, the value calculated by the scheme is moreaccurate, so that the accuracy of the calibrated distance value is improved.

Description

technical field [0001] The invention relates to a calibration method, in particular to a calibration method for a TOF camera. Background technique [0002] The 3D camera based on the TOF (Time-Of-Flight) theory is one of the research hotspots in today's technology. The TOF 3D camera can acquire grayscale images and distance images at the same time, and has gradually appeared in gesture control, 3D modeling, and automobiles. In the field of systems such as radar and robot vision. [0003] TOF camera technology is one of the most prominent optical three-dimensional measurement technologies. Its basic principle is: the light emitted by the active light source is reflected by the object and captured by the TOF camera. The phase difference is used to calculate the distance between the subject and the TOF camera, and while obtaining the depth information of the subject, the TOF camera also captures grayscale information. However, due to its own characteristics, imaging condition...

Claims

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Application Information

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IPC IPC(8): G01S7/497G01S7/4915G01S17/08G03B43/00
CPCG01S7/497G01S7/4915G01S17/08G03B43/00
Inventor 邹耀
Owner 上海数迹智能科技有限公司
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